Salvius Robot Project

Salvius Robot Project

The Open Source Humanoid Robot

About Salvius:

Salvius is the first open-source humanoid robot to be built in the United States. The robot is designed to be able to perform a wide range of tasks utilizing a body structure that is similar to human beings. Being open source means that all of the robot's source code is freely available for anyone to use.

The Name:

The name "Salvius" is a bit unconventional for a robot. I chose it because it is an unconventional name for a robot and it fit the robot's unique character. The name itself dates back to the time of the ancient Romans, but it seem oddly fitting because so much of the robot has been salvaged from old electronics and re-purposed materials. The original goal for this robot was to recycle and make it as affordable to build as possible.

Purpose for Building this Robot:

The primary goal for Salvius is to create a humanoid robot that will be able to function dynamically in a domestic environment. Salvius is made from the best materials that I have found to be readily available. This has greatly reduced the cost of building the robot.
I choose to build a humanoid robot because it would be able to conduct a wide variety of tasks just like humans and this gives it a huge advantage when it comes to conducting more complex tasks.

Specifications:

Name: Salvius
OS: Ubuntu
Height: 6 feet
Weight: 120 lbs
DOF: 24
Modality: Biped (Upcoming)
Control: Autonomous and Remote
Max operating time: 2 hours
Materials and Cost: (See BOM)
Additional features:
• Night Vision

proof:pdf xmp.did:F87F11740720681180838E4FEC0BBEE0 xmp.iid:F87F11740720681180838E4FEC0BBEE0 uuid:a82416aa-8f86-e849-8a8d-10757c227e64 xmp.iid:F77F11740720681180838E4FEC0BBEE0 xmp.did:F77F11740720681180838E4FEC0BBEE0 uuid:a82416aa-8f86-e849-8a8d-10757c227e64 proof:pdf saved xmp.iid:F77F11740720681180838E4FEC0BBEE0 2011-07-15T18:59:45-07:00 Adobe Illustrator CS5 / saved xmp.iid:F87F11740720681180838E4FEC0BBEE0 2011-07-15T19:12:41-07:00 Adobe Illustrator CS5 / 2011-07-15T19:12:41-07:00 Adobe Illustrator CS5 2011-07-15T19:12:41-07:00 2011-07-15T19:12:41-07:00 256 256 JPEG /9j/4AAQSkZJRgABAgEASABIAAD/7QAsUGhvdG9zaG9wIDMuMAA4QklNA+0AAAAAABAASAAAAAEA AQBIAAAAAQAB/+4ADkFkb2JlAGTAAAAAAf/bAIQABgQEBAUEBgUFBgkGBQYJCwgGBggLDAoKCwoK DBAMDAwMDAwQDA4PEA8ODBMTFBQTExwbGxscHx8fHx8fHx8fHwEHBwcNDA0YEBAYGhURFRofHx8f Hx8fHx8fHx8fHx8fHx8fHx8fHx8fHx8fHx8fHx8fHx8fHx8fHx8fHx8fHx8f/8AAEQgBAAEAAwER AAIRAQMRAf/EAaIAAAAHAQEBAQEAAAAAAAAAAAQFAwIGAQAHCAkKCwEAAgIDAQEBAQEAAAAAAAAA AQACAwQFBgcICQoLEAACAQMDAgQCBgcDBAIGAnMBAgMRBAAFIRIxQVEGE2EicYEUMpGhBxWxQiPB UtHhMxZi8CRygvElQzRTkqKyY3PCNUQnk6OzNhdUZHTD0uIIJoMJChgZhJRFRqS0VtNVKBry4/PE 1OT0ZXWFlaW1xdXl9WZ2hpamtsbW5vY3R1dnd4eXp7fH1+f3OEhYaHiImKi4yNjo+Ck5SVlpeYmZ qbnJ2en5KjpKWmp6ipqqusra6voRAAICAQIDBQUEBQYECAMDbQEAAhEDBCESMUEFURNhIgZxgZEy obHwFMHR4SNCFVJicvEzJDRDghaSUyWiY7LCB3PSNeJEgxdUkwgJChgZJjZFGidkdFU38qOzwygp 0+PzhJSktMTU5PRldYWVpbXF1eX1RlZmdoaWprbG1ub2R1dnd4eXp7fH1+f3OEhYaHiImKi4yNjo +DlJWWl5iZmpucnZ6fkqOkpaanqKmqq6ytrq+v/aAAwDAQACEQMRAD8A9U4q7FXYq7FXYq7FXYq7 FXYq7FVOa4ghFZXCex6/diqDk1qHpDG0h8fsjFUM+p37/Z4Rj2FT+NcVUWmvHNWuH37KeP6sKqZi B+0zN8zirvQj8MVd6EfhirhFT7LMvyOKqqzXiGq3D/7I8v14qqpqd+n2gkg+4/hTAqJj1mA7TI0R 8ftD8P6YqjYriGYVicOPY7/diq/FXYq7FXYq7FXYq7FXYq7FXYq7FXYq7FXYq7FXYq7FXYqh7m/t rfZ2q/ZF3OKpdNqN5Nsv7lPbdvvxVDCNa8m+Jj1LbnCq7FXYq7FXYq7FXYq7FXYq7FXYqt9Na8lq rDoy7HFUTDqN5Ds/75PfZvvwKmNtf29xsjUfujbNiqIxV2KuxV2KuxV2KuxV2KuxV2KuxV2KuxV2 KrZZY4kLyMFUdziqVXGpTzVWCsUf8/7R+XhiqFVFXp17k9cKt4q7FXYquVWY0UFj4Dc4qqrZXTCo jIHvQfgcCqo0u47so+k/0xVeulNT4pAD7Cv8Rirm0pv2ZAfmKf1xVYdLuP5lP0n+mKqT2V0oqYyR 7UP6sVUWVlNGBBHUHY4VaxV2KuxVpkVt+hHQjriqKt9Tmhos9ZY/5x9ofPxwKmsUscqB42DKehGK rsVdirsVdirsVdirsVdirsVdirsVQ93exWy7/FI32EHU4qlEsks7+pMakfZQfZXCrWKuxV2KoqGw nk3I4L4t1+7AqMi063ShYF29+n3YqiVVVFFAUeA2GKt4q7FXYq7FXYq7FWmVWFGAYeBFcVQ0unW7 7rVG9un3HFUFNYTx7gc18V6/diqGwq7FXYq3FJLA/OE0P7SH7JxVOLS8iuVqvwuPtoeowKr4q7FX Yq7FXYq7FXYq7FXYqhb69W3XivxTN9lP4n2xVKTyZzJI3KRvtMcKuxV2Kq9vayzn4RRe7npgVMre zhh3A5P/ADHr9HhiqvirsVdirsVdirsVdirsVdirsVdirsVUJ7OGapI4v/MP4+OKpZcWssB+IVXs 46Yqo4VdirhyVxJGeMi9GGKpvY3y3ClWHGZftp/Ee2BUTirsVdirsVdirsVdiqheXa28XLrI20ae JxVJiWZi7nlI27NhV2KuxVHWmnl6PNsvZe5+eBUyAAAAFAOgGKuxV2KuxV2KuxV2KuxV2KuxV2Ku xV2KuxV2KuIBBBFQeoOKpbd6eUq8O6917j5YqgcKuxVwLqwkjPGRfstiqc2d2txFy6Ouzp4HAqvi rsVdirsVdiq2WVIo2kc0VRU4qkcsrzSmV9idlX+VfDCq3FXYqmNjY0pLKN+qqe3ucCo/FUPdX1vb ECUmrbgAVxVbHqli5oJQD/lAj8TtiqKDBgCpqD0IxV2KuxV2KuxV2KuxV2KuxV2KuxVp3RF5OwVR 1JNBiqEk1eyQ0DFz/kiv66YqvtNQguWZI+QZRWjADb7ziqJxVAX1jWssQ36so/WMVS7CrsVXRSvB KJU6jZl/mHhiqeRSpLGsiGqsKg4FXYq7FXYq7FUp1G49Wb0lP7uI/F7v/ZiqFwq7FUdp9pzPrOPh H2R4nxwKmWKuxVJLx/UvpW7JRF+jr+OFVIqp6iuKujMkLcoHMZ8OoPzBxVHW+rioS5Xge0i/Z+nw wKmSsrAMpBB3BHTFWmZVFWIA8Ttiqi99Zp1mT6DX9WKqZ1WwH+7f+Fb+mKu/S2n/AO/f+Fb+mKtj U7A9Jh9II/WMVVkubd9klRiewYE4qvZlVSzEBR1J2GKpdcatWqWq8vGVun0DFUA4eVuUzmRvfoPk MKtgAdBTFV9q/p30Ljox4H6dhiqe4FdiqW6hacD60Y+E/aHgfHFUDhV2KorTrj0pvSY/u5T8Ps39 uBU2xV2KuxVQvbj0ICw+23wp8z/TFUmAoKYVdiqta25nlC/sjdz7YFToAAAAUA2AxV2KuxVj4bk8 j92dj95wq7FXYq4gEUOKuUzRgrFK0aHcqD+rFVhiVjVyXPiTXFWxHGP2Riq7ivgMVdQeGKtcEPVR 92KtGGM/s4q709uPJinXgTtXFV3TFXYq7FVsh48W7qwIxVkWBXYq4gEEEVB2IxVJbq3MEpX9k7of bFVHCriKin44qnNlcevAGP21+F/mP64FV8VdiqUahN6tyVH2YvhHz/a/piqGwq7FU5s7f0YQD9tt 2/pgVXxV2KuxVj/Hi8ifyuw+44VdirsVdirsVdirsVdirsVdirsVdirsVdirsVWuvIog6uwA+k4q yLArsVdiqheW/rQkD7a7r/TFUmwq7FUTp83p3IU/Zl+E/MfZ/pgVN8VWTyiKF5D+yKgeJ7DFUiFe 5qTuT7nCrsVRVhD6k4JHwp8R+fbAqbYq7FXYq7FUiumjN9N6ZqpIJPbl3wqsxV2KuxV2KuxV2Kux V2KuxV2KuxV2KuxV2KrSzRyRzAcvTPLicVT63njniWSM1U9u4PgcCqmKuxV2KpTfw+nOSB8L/EPn 3xVC4Vca9jQjcH3GKp7BKJYUkH7QqR4HuMCoTVZKRpGP2zU/Jf7SMVS3CrsVTbTouFvyP2nNfo7Y FRWKuxV2KoLVLtoYhHGf3suw9h3OKpWiBVoPpwq3irsVdirsVdirsVdirsVdirsVdirsVdirsVdi qrYXH1a5Ck/uZTQ+AbscVTvArsVdiqF1GLnb8gPiQ1+jviqU4VdiqZaVJWN4z+waj5N/aDgVD6k/ K6I/kUD6Tv8AxxVC4VbVSzBR1JoPmcVT5VCqFHRRQfRgVvFXYq7FUiuZPWupJP2QeCfJf64VWYq7 FXYq7FXYq7FXYq7FXYq7FXYq7FXYq7FXYq7FWnUMpGKp1YzGa1jc/apxb5jY4FV8VdirTKGUqejC h+nFUhZSrFT1U0PzGFWsVRWmvxugP51I+kb/AMMCqVyxa4lJ/mI+40GFVLFVeyQNdRg9Aa/cKjAq c4q7FXYqsncpDI46qpI+gVxVIlFFA8MKuxV2KuxV2KuxV2KuxV2KuxV2KuxV2KuxV2KuxV2KuxVM dJb4JU8GDf8ABCn/ABrgVH4q7FXYqk16gW6kA6E1+8VxVQwqq2zFbiIj+YD7zQ4qp1J3PU74q1iq M0sf6Q3sp/WMCppirsVdiqjeGlrJ/q0+/FUlwq7FXYq7FXYq7FXYq7FXYq7FXYq7FXYq7FXYq7FX Yq7FUw0n/dv+x/jgVMMVdirsVSvVB/pCnxUfrOKoPCrdSNx1G+KtYq7FUfpS/FI3gAPvr/TAqY4q 7FXYqp3NPq8tf5G/ViqR4VdirsVdirsVdirsVdirsVdirsVdirsVdirsVdirsVdiqYaT/u3/AGP8 cCphirsVdiqX6qo5Rt3II+6n9cVS/CrsVdirsVR+lH4pF8QD91f64FTHFXYq7FWnUMjKejAg/Tiq Q4VaxV2KuxV2KuxV2KuxV2KuxV2KuxV2KuxV2KuxV2KuxVMtKX4JG8SB9w/twKjsVdirsVS7VT8U Y8AT99MVQGFXYq3QjY9RirWKorTpUjnYuwRSp3Y0FajxwKjjqFmDT1Qf9Wrfqrirvr9t4t/wD/0x V31+28W/4B/6Yq79IWgNC5HzVh/DFUrnMZmcxnkhNQRt13wqp4q7FXYq7FXYq7FXYq7FXYq7FXYq 7FXYq7FXYq7FXYqmNlPFFAF4uzkksFRj16bgU6YFVxeE9IJj/safrIxVsXT0J+ry7f6n/NWKtG8Y dbeb/gQf1E4qgL+YSzAhWWigUYFTWp8cVQ2FWwCdh1OKql0pW4kB/mJ+gmuBVLCqtalBcxlwCtaG vTcUH44FTNr2zT4fVUn+Vfi/Ba4q19dBPwwysOxCUH/DUxVxuLn9m2Y+FWQfxOKuM952th/yMH9M VQt9HcSAStEE4ChIblt9wxVA4VdirsVdirsVdirsVdirsVdirsVdirsVdirsVdiq+ONpHVF+0xoM VTNRqCqFAhoooN26D6MCrgdR7iE/S39MVcZL1esKP/qvT9ajFXfW3X+8t5F91Acf8KTiqW3Uqy3D upJU0AqCOgp0PviqjhVVtVLXEYH8wP0A1wKraknG55fzgH+H8MVQmFXH5VpvQ9MVT6IR+mpjACMA RQUFDgVdirsVdiriAQQRUHYg4qk93atA9RvG32T/AAOKofCrsVdirsVdirsVdirsVdirsVdirsVd irsVdiqaafamMeq4o7fZHgMCozFXYq7FWnYIpZtlUEk+wxVISxYlm+025+Zwq1iqL01OVzy/kBP8 P44FRGqRkxI4/ZND8j/tYqlmFXYqmumS87fgftRnj9HUYFReKuxV2KuxVp0V1KsKqeoOKpbc6c6E tF8afy9x/XFUHhVrFXYq7FXYq7FXYq7FXYq7FXYq7FVyI7txQFmPYYqmNrp4Qh5qFuy9h88Co3FX Yq7FXYqhNTl4W/AfakPH6OpxVKsKuxVM9LjIidz+0aD5D/bwKip4xLE6fzDb59sVSMgg0Ox8MKtY qiLCb0rkV+zJ8B+f7OBU4xV2KpZfXV9HcFVYRxD7JoDUd+uKtxalL6nFVNzHT7aKVb3+HFUwiljl QPG3JT3xVdiqnLbQS/bUE/zDY/fiqDk0rvG/yDf1H9MVUH0+6U/Y5DxBH8d8VUXilQVdGVR3IIH3 4VWYq7FXYq7FXEgddsVVUtrhjQRt9IoPvOBVZNNuW6gJ8z/SuKoiPS4hvIxf2GwxVFxxxxrxRQo9 sVXYq7FXYq7FXYqk99N6tyafYj+Bfn+0cVQ+FWwCTQbnwxVPIIxFEifyjf598Cr8VSnUIfTn5D7M m4+ffFULhVxFRTFU4sbn14AW/vE+Fx7jv9OBURiq2SKOReLryGKpRd20lu/wOyqfsuux+RpirVrd RwSho+fpmgnDdK/zLTwwqnQIIqNwehwK7FXYq4kKCxNANycVSKe5a6lMh2jU0iX28fnhVZirsVdi rsVcQCKHFUZpl0ySC2c1Rv7onsf5cCppirsVdirsVdirsVdiqHvrn0ICR/eP8MY9z3+jFUnAoAMK uxVFafD6k/I/Zj3Pz7YFTbFXYqo3kHrQlR9obr8xiqTYVaxVUt7g28wk/YO0g9vH6MVTwEMAQag7 gjArsVU7iETRMh6n7J8D2xVJC0qErzManaUU7DxwqibbUFtz6RYy2w+xIAQR7UPbAqZxTwyisbhx 7HFVzOiCrMFHiTQYql2o38LwPBC3N32JXoBXffFUCAAAB0GFXYq7FWyrAAkEBuh7GmKtYq7FXGoo V2ZTVT7jcYqn6OHRXHRgCPpwK3irsVdirsVdiriQoLE0A3JPhiqR3FwbmYyfsDaIe3j9OFVPFW8V Tmzg9GEKftHdvmcCq2KuxV2KpXqNvwk9VfsOd/Zv7cVQeFXYqi9OvPSYW8h/dt/dMex/lwKmuKux VLNRtijmVR8Dfa9j/biqDDyqCsb8VbZ1A6jCq0iErw9I8619Wu1PCmKuKwMAFiKsooxYkhj/AAxV czlzyKLGf5UFBirWKq8sQS3hanxPyJ+W1MCqGFURN/vJbf7P/iWBUPhVWkiCwQyD9sMG+YOBVHCq eW21vF/qL+rAqpirsVdirsVdiqVajeesxt4z+7U/vW8SP2RiqEwq7FUZp1vzk9VvsIdvdv7MCppi rsVdirsVWyRrIhRvst1xVJZ4WhkKN26HxHjhVTxVzKGFD0OKo+wvzUQTn4ukch7+x98CpjirmUMC CKg7EHFUvn0w1LQnb+Q/wOKoRrW5U0MbV9hX8RirX1e4/wB9P/wJwq54JkTm6FVrTfbfFVPFUZe/ 7z2v+p/AYFQeFUTP/vJbf7P9eBUNhVGSj/cbCe/I/rbAqDwqnlv/ALzxf6i/qwKqYq7FXYq7FUt1 DUCSbe3PxdJJB29h74qgFUKKDphVvFVSCF5pAi9+p8B44qnUcaxoEXZV6YFXYq7FXYq7FXYqo3Vs s8dOjjdWxVJ3RkYqwow6jCq3FXMoYUPTFUXZ6k0VIrg1j6LL3Hs2BU1BDAEGoO4IxV2KuxV2KoPV P951/wBcfqOKpXhVGXv+89r/AKn8BgVB4VRVz/vLbfJv4YFQuFUZL/xzIf8AXP8AxtgVB4VTy3/3 ni/1F/VgVUxV2KuZlUFmIAG5J6YqlF5qbzExWxon7Uvc/LFUKqhRQYVbxVciM7BVFWPQYqnFrbLB HTqx3ZsCq2KuxV2KuxV2KuxV2Koe7tFnWo2kHQ+PscVSl0ZGKsKMOowqtxVxAOxxVfb3Nxan92eU feI9Po8MVTW1v7e42U8ZO8bbH+3AqIxV2KoPVP8Aedf9cfqOKpXhVGXv+89r/qfwGBUHhVGXP+8V v9OBUHhVGS/8cyH/AFz/AMbYFQeFU8t/954v9Rf1YFVMVQ11qFvbghjyk7IvX6fDFUquLi5uj+8P CLtGP44VWgACg2GKuxVciM7BVFWPQDFU2tLRYFqd5D9pv4DAqIxV2KuxV2KuxV2KuxV2KuxVRubW Odd9nH2WxVKZoJIW4uKeB7H5YVU8VdirTIrdevYjriqvDqF5DsT6yDs32vvwKjYdWtJNnJibwfp9 +KrNTnRkjRSGqeVQa9Nv44ql+FUZe/7z2v8AqfwXAqDwqjLkH6jbmn+ZwKg8KoyX/jmRf65/W2BU HhVHJq0MMCoysZFFAo6GnTfAqFm1C9n2B9GM9h1+/CqikSrv1PicVXYq7FVSGCSZ+KCview+eKpt bWscC7bsftMcCq2KuxV2KuxV2KuxV2KuxV2KuxV2KrZI0kXi45L4HFUtuNOkT4o6unh+0P64qhMK tYq7FXFQeorirSoq14ilcVbblT4aE++Kqks8sxVpKAgUouwxVTPTx9sVVpb55Ykh9Hiq0o3Kp2FP AYFUcKttLclBEJKRDfjQeNcVaxV2KuxV2Kt4qi7fTpH+KWqL4ftH+mBUyjjSNQqAKo7DFV2KuxV2 KuxV2KuxV2KuxV2KuxV2KuxV2KuxVRns4Zt2FG/mHXFUvm0+ePdR6i+K9fuxVDEEGh6jrhVrFXYq 7FXYq7FXYq7FXYq7FXYq2ASaDcnoMVRMOnTybt+7X36/dgVMILSGHdRVv5jucVVsVdirsVdirsVd irsVdirsVdirsVdirsVdirsVdirsVdiqySCGUfGgb37/AH4qhZNLiO8blfY7j+GKod9NuV6AP8j/ AFpiqi1tcKaGNtvAEj7xiqmduu2FWsVdirY36b4qqLa3LGgjavuCP14FVk025b7VE+ZqfwriqIj0 uIbuxf2GwxVFRwxRCkahffv9+Kr8VdirsVdirsVdirsVdirsVdir/9k= Adobe PDF library 9.90 image/svg+xml 1 False False 130.000000 130.000000 Pixels Cyan Magenta Yellow Default Swatch Group 0

image/svg+xml

image/svg+xml

Peoples' Preferences for Purchased Products

(No comments)

There is software available for any task that you could possibly want to accomplish with a computer. In fact chances are that if you are looking for a program to accomplish a specific task you will find multiple options available.

I have been exploring what makes the biggest difference between freeware and commercial products. Personally, my policy is that whenever I need to do something on my computer I will, 100% of the time, choose a free alternative as opposed to a product that needs to be purchased. Purchasing software often breaks the bank for individual users and unless you are running a business that will be profiting from the software the end result is just not worth the cost.

Do you think that software prices are properly priced for individual users?

Would it be better if software was free and users could pay for additional things such as support and data hosting?

An alternative could possibly be semi-open source projects where source code was not available unless a someone purchased it. Basically the software would be free to download and use but if someone wanted the source code to modify or compile themselves then they would have to buy a copy of the code. This might be beneficial for some open-source projects because it would support the developers and let them spend more time making the product better. Obviously this is not a perfect scenario because the software project would risk losing contributions from many people which is where most open-source projects gain their strength.

Earth Day 2013

(No comments)

As you read this take a moment to think about how you are sitting on a planet that is hurtling through a theoretically infinite abyss. In the scale of the universe, our planet is a speck of dust, mixed in with billions upon billions of other specks of dust. With that notion our little world seems somewhat insignificant. What makes a difference is that our speck has life on it. Out of the billions of other worlds that are out there, ours is the only one that we know of that has us, thinking about the universe, as we hurtle through it.

The following message is a formal request from Salvius the robot:

Dear people of Earth,

Please refrain from discarding debris, waste, and rubbish in areas that are not designated as trash receptacles. Please do not leave trash in public forests and wildlife sanctuaries. Please do not dispose of unwanted materials out of vehicle windows. Please unplug device chargers from a power source when they are not in use. Please turn off lights when you leave the room. Please attempt to preserve the Earth.

Java with Tomcat Install Reference

(No comments)

Helpful information for setting up Java on Ubuntu server.

  • http://askubuntu.com/questions/197248/java-on-ubuntu-server-12-04
  • sudo add-apt-repository ppa:webupd8team/java
  • sudo apt-get update
  • sudo apt-get install oracle-java7-installer


Errors in dmesg - Test WP failed, assume Write Enabled

  • http://askubuntu.com/questions/132100/errors-in-dmesg-test-wp-failed-assume-write-enabled


Resolve “sudo: add-apt-repository: command not found”

  • sudo apt-get install python-software-properties
If that doesn't work you may have to install the main package:
  • sudo apt-get install software-properties-common

Edsgar Dijkstra - Shortest Path Algorithms

(2 comments)


Computer science is no more about computers than astronomy is about telescopes. - Edsger Dijkstra

There are many ways to find the shortest path between two points. A simple example would be driving instructions. Assuming a situation where traffic is not an issue, you could take literally thousands of different roadways to get from Massachusetts to California. So which one will get you there the quickest? To answer this question we must consider not only the time to travel between the two points, but also the time it takes to compute this information. Edsgar Dijkstra was responsible for creating the fastest algorithm to date that determines the quickest path between two points.

Dijkstra’s algorithm works on rather simple principles. The distance between the starting point and all adjacent points are first measured. The point at the shortest distance from the first point is then selected. This operation then repeats until the destination is reached.

The algorithm has been implemented in a plethora of modern programs. It is the base behind items such as Google Maps, GPS Devices, and network routing protocols where it is necessary for computers to communicate quickly with each other. The algorithm is also used in the computation of Fibonacci heaps, heap data structures in which each child key is greater than or equal to its parent.

Edsgar Dijkstra began college with the intent to major in theoretical physics, after realizing that physics was not for him, he then turned to computer science. He quickly became noted for his strong opinions about different aspects of programming. He has opposition against the programming language BASIC became quite prevalent after he stated that

“It is practically impossible to teach good programming to students that have had a prior exposure to BASIC: as potential programmers they are mentally mutilated beyond hope of regeneration.”

Dijkstra also denoted the idea of structure based controls such as using a while loop, before which there was a GOTO statement. He published a paper in 1968, urging developers to work towards the widespread usage of structured control constructs as well as the depreciation of the GOTO statement. The GOTO statement provided a one-way transfer of control from one line of code to another.

Note: In java goto is a reserved word but it is infact unusable.
Also noteworthy, Dijkstra created a fictional company, Mathematics Inc. for which he worked and published papers. The company mass produced mathematical formulas which it then sold to the public.

Pseudocode:

 1  function Dijkstra(Graph, source):
 2      for each vertex v in Graph:                                // Initializations
 3          dist[v] := infinity ;                                  // Unknown distance function from 
 4                                                                 // source to v
 5          previous[v] := undefined ;                             // Previous node in optimal path
 6      end for                                                    // from source
 7      
 8      dist[source] := 0 ;                                        // Distance from source to source
 9      Q := the set of all nodes in Graph ;                       // All nodes in the graph are
10                                                                 // unoptimized - thus are in Q
11      while Q is not empty:                                      // The main loop
12          u := vertex in Q with smallest distance in dist[] ;    // Source node in first case
13          remove u from Q ;
14          if dist[u] = infinity:
15              break ;                                            // all remaining vertices are
16          end if                                                 // inaccessible from source
17          
18          for each neighbor v of u:                              // where v has not yet been 
19                                                                 // removed from Q.
20              alt := dist[u] + dist_between(u, v) ;
21              if alt < dist[v]:                                  // Relax (u,v,a)
22                  dist[v] := alt ;
23                  previous[v] := u ;
24                  decrease-key v in Q;                           // Reorder v in the Queue
25              end if
26          end for
27      end while
28  return dist;

Transition to Biped

(3 comments)

Salvius is now sitting high in preparation for a new achievement, bipedal walking! I've attached the new pair of legs to the robot using four car-door shock absorbers. All that remains to be done is creating a few small brackets that will reattach the torso motor to the upper body of the robot. These brackets are a critical part of the robot's new design because the large motor that controls the left and right movement of the upper body is needed to shift the center of gravity from one leg to another.

Email Subscription

(2 comments)

Sonic Screwdriver Schematics

(2 comments)

This post is intended to outline the basic design principles and construction principles used to create my sonic  screwdriver. I'm posting this information per popular request so feel free to leave a comment if you require any additional information or specific details on anything.

View the origional post here: http://salviusrobot.blogspot.com/2012/12/diy-sonic-screwdriver.html

  1. Basic interface:
    1. All settings of the device are accessible through two buttons which, when pressed in different combinations, will allow the user to access any of the devices features. In the current configuration of the programming the buttons are set to change to the next, or previous mode when pressed. If both buttons are pressed simultaneously then the mode is reset the the default action which is to do nothing.
  2. Modular design:
    1. The sonic screwdriver can be divided into three main sections.
    2. The first section contains the arduino board, LED, and sensors.
    3. The second (middle) section contains the battery and the buttons to control the device.
    4. The third section contains two iron bars, insulated from each other and surrounded by an electromagnetic coil.
  3. Source code: https://gist.github.com/gunthercox/4179931
  4. Parts list:
    1. x1 Arduino Pro Nano
    2. x2 push buttons
    3. x1 piezoelectric disk
    4. x1 IR Emitter
    5. x1 IR Receiver
    6. x1 Large colored LED
    7. x1 Laser pointer
    8. x1 9 volt battery
    9. x1 9 volt battery connector
    10. x1 9 volt battery clip
    11. some wire
    12. some pcb board to solder the LEDs to
    13. plastic for making end sections
    14. steel bar
    15. necessary hardware (small screws and bolts)
  5. Basic blueprints: